p-SSA resolves infeasible multi-constraint safe-control QPs by first minimizing constraint violations and then tracking the nominal control, enabling dexterous humanoid collision avoidance in clutter.
Control barrier function based quadratic programs with application to adaptive cruise control
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Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm
p-SSA resolves infeasible multi-constraint safe-control QPs by first minimizing constraint violations and then tracking the nominal control, enabling dexterous humanoid collision avoidance in clutter.